/*
 * Copyright (c) 2018, Bosch Software Innovations GmbH.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted (subject to the limitations in the disclaimer
 * below) provided that the following conditions are met:
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 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
 * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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#include <gmock/gmock.h>

#include <memory>
#include <string>

#include <OgreEntity.h>
#include <OgreMesh.h>

#include "visualization_msgs/msg/marker.hpp"
#include "rviz_rendering/objects/shape.hpp"

#include "rviz_default_plugins/displays/marker/markers/shape_marker.hpp"

#include "../../../scene_graph_introspection.hpp"
#include "markers_test_fixture.hpp"
#include "../marker_messages.hpp"

using namespace ::testing;  // NOLINT

TEST_F(MarkersTestFixture, no_transform_does_not_try_to_set_scene_node) {
  marker_ = makeMarker<rviz_default_plugins::displays::markers::ShapeMarker>();

  EXPECT_CALL(*frame_manager_, transform(_, _, _, _, _)).WillOnce(Return(false));  // NOLINT

  marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::CUBE));

  auto entity = rviz_default_plugins::findEntityByMeshName(
    scene_manager_->getRootSceneNode(), "rviz_cube.mesh");
  ASSERT_FALSE(entity->isVisible());
}

TEST_F(MarkersTestFixture, positions_and_orientations_are_set_correctly) {
  marker_ = makeMarker<rviz_default_plugins::displays::markers::ShapeMarker>();

  Ogre::Vector3 position(0, 1, 0);
  Ogre::Quaternion orientation(0, 0, 1, 0);
  mockValidTransform(position, orientation);

  marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::CUBE));

  EXPECT_THAT(marker_->getPosition(), Vector3Eq(position));
  EXPECT_THAT(marker_->getOrientation(), QuaternionEq(Ogre::Quaternion(0, 0, 0.7071f, -0.7071f)));

  auto entity = rviz_default_plugins::findEntityByMeshName(
    scene_manager_->getRootSceneNode(), "rviz_cube.mesh");

  auto shape_scene_node = entity
    ->getParentSceneNode()  // OffsetNode
    ->getParentSceneNode();  // SceneNode

  EXPECT_THAT(shape_scene_node->getPosition(), Vector3Eq(Ogre::Vector3::ZERO));
  EXPECT_THAT(shape_scene_node->getScale(), Vector3Eq(Ogre::Vector3(1, -0.2f, 0.2f)));
}

TEST_F(MarkersTestFixture, different_types_result_in_different_meshes) {
  marker_ = makeMarker<rviz_default_plugins::displays::markers::ShapeMarker>();
  mockValidTransform();

  marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::SPHERE));

  auto cylinder_entity = rviz_default_plugins::findEntityByMeshName(
    scene_manager_->getRootSceneNode(), "rviz_cylinder.mesh");
  auto sphere_entity = rviz_default_plugins::findEntityByMeshName(
    scene_manager_->getRootSceneNode(), "rviz_sphere.mesh");
  EXPECT_FALSE(cylinder_entity);
  EXPECT_TRUE(sphere_entity);

  marker_->setMessage(createDefaultMessage(visualization_msgs::msg::Marker::CYLINDER));

  cylinder_entity = rviz_default_plugins::findEntityByMeshName(
    scene_manager_->getRootSceneNode(), "rviz_cylinder.mesh");
  sphere_entity = rviz_default_plugins::findEntityByMeshName(
    scene_manager_->getRootSceneNode(), "rviz_sphere.mesh");
  EXPECT_TRUE(cylinder_entity);
  EXPECT_FALSE(sphere_entity);
}
